Universal Robots UR30 - Page 97

Use the Set
Payload
command
1. In your robot program, select the place or node where you wish to add a Set
command.
2. Under Basic, tap Set Payload.
3. Use the drop-down, under Select Payload.
a. Select one of the payloads already configured.
b. Or, use the drop-down to configure a new payload by selecting Custom
Payload and completing the mass and CoG fields.
Tip You can also use the Set Now button to set the values on the node as the active payload.
Use tip Remember to always update your payload when making any changes to the
configuration of the robot program.
Example:Set
Payload
In a pick and place program, you would create a default payload in the installation. Then
you add a Set Payload when picking up an object. You would update the payload after
the gripper closes, but before starting to move.
Additionally, you would use the Set Payload after the object has been released.
Payload
Transition Time
This is the time it takes the robot to adjust for a given payload. At the bottom of the
screen, you can set the transition time between different payloads.
You can add a payload transition time in seconds.
Setting a transition time larger than zero, prevents the robot from doing a small "jump",
when the payload changes. The program continues while the adjustment is taking place.
Using the Payload Transition Time is recommended when
picking up or releasing heavy objects or using a vacuum gripper.
User Manual 98 UR30
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.